Gyro vertical



Nov., 1, 1949. T. o. SUMMERS, JR 2,436,578

GYRO VERTICAL Original Filed Feb. 28, 1939 4 Sheets-Sheet 1 27/0/1015 0.5UMMER5 dz,

INVENTOR.

K ATTORNEY.

Nov. 1, 1.949. T. o. SUMMERS, JR 2,485,578

GYRO VERTICAL Original Filed Feb. 28, 1939 4Shets-Sheet 2 Jim/v45 0.jam/25 r/Q.

I N VEN TO R.

ATTORNEY.

Nov. 1, 1949. T. o. SUMMERS, JR 2,436,578

GYRO VERTICAL Original Filed Feb. 28, 1939 4 Sheeis-Sheet 3 790%45 Qflaw/25 r/Zz,

INVEN TOR.

BY Y

I ATTORNEY.

Patented Nov. 1, i949 GYRO VERTICAL Thomas 0. Summers, Jr., Los Angelcs,Calif.

Original application February 28, 1939, Serial No.

258,931. Divided and this application November 11, 1942, Serial No.465,241

1 Claim.

This invention relates to navigation instruments, and more particularlyto an instrument adapted to maintain a Substantially fixed attitude withrespect to the earths surface.

An object of the present invention is to provide an improved and highlyefficient form of gyro vertical, i. e., a mechanism for insuring greataccuracy in disposing the apparatus with which it is associated at theproper attitude with respect to the earths surface which is necessaryfor its efficient, dependable, and accurate operation.

A further object is to provide a gyro vertical construction whichoperates by employing the reactive forces of pneumatic jets to apply atorque to the universally supported gyroscope of an instrument of thegeneral character indicated, that torque being applied to the gyroscopein such a manner and such a direction that it causes the gyroscope toprecess to the desired attitude, wherein the jet-controlling devices arenot suspended for free pendulosity in planes parallel to the axis of therotors spin as in case of more conventionally constructed devices, butinstead are mounted for reciprocatory movement along a plane to whichthe axis of spin is perpendicular.

In order to gain an understanding of the importance of this feature ofthe present invention, a brief statement of the state of the prior artwill be helpful. Prior development of this class of mechanism is bestexemplified by the gyro vertical forming the subject matter of PatentNo. 1,982,636 issued to Carlson on December 4, 1934. In this type ofgyro vertical several small pendulous controllers are pivoted to theuniversally supported housing of an air-driven gyroscope and wheneverthe gyroscope as a whole is in the vertical each controller covers oneof a corresponding number of air outlets suitably arranged in thehousing. Whenever the housing becomes inclined, at least one of the airoutlets becomes uncovered because it moves out from behind itsassociated pendulous controller which is retained by gravity in itsvertical position while the tilting movement of the housing in which theoutlet is formed is in progress. As the result of this uncovering of theair outlet, egress of air therethrough is permitted in the form of ajet, the reactive force of which is exerted as an erecting torque uponthe gyroscope. An inherent disadvantage of this type of gyro verticalerecting device, however, lies in the fact that after the gyroscopeapproaches the vertical, that outlet is gradually reduced in size untilsuch time when the spinning axis of the gyroscope is only slightlydisplaced from true vertical; and it has been 2 found practicallyimpossible to arrange the outlets and their pendulous controllers sothat sufiicient erecting torque to complete movement of the gyroscope tothe truly vertical position is developed when an outlet is only slightlyopen because for a small displacement of the gyroscope the relativemovement between a pendulous controller and its associated outlet is tooslight to cause any appreciable uncovering of the outlet.

By the present invention I propose to replace the conventional penduloustype of control in a gyroscope erecting mechanism by what is actually anon-pendulous type, and thereby to provide an improved gyro verticalconstruction in which the slightest tilt causes a controller to movecompletely away from in front of its associated outlet and completelyback again after return of the gyroscope to the vertical, and therebyeliminate the possibility of permitting the controller to come to restin any intermediate position.

A further object in this connection is to provide a gyroscope-erectingmechanism which relies for its operation upon variation in the reactiveforces of jets of air issuing from the rotor housing and yet whichavoids variation in the quantity of air passing through the housing andthe consequent variation in the speed in the rotors spinning, which hasbeen one of the objectionable features in the earlier devices of thistype.

The present application is a division of my co-pending application,Serial No. 258,931, filed February 28, 1939, issued April 18, 1944 asPatent No. 2,346,798.

The invention possesses other objects and features of advantage, some ofwhich, with the foregoing, will be set forth in the followingdescription of the preferred forms of my invention illustrated in thedrawings accompanying and forming part of the specification. It is to beunderstood however, that I do not limit myself to the showing made bythe said drawings and description as I may adopt variations of thepreferred forms within the scope of my invention as set forth in theclaims.

Referring to the drawings:

Figure l is a longitudinal, horizontal, medial sectional view takenthrough the housing of the navigation instrument which forms the subjectmatter of my said co-pending application and of which the gyro verticalof the present application is a constituent part. This figure shows themechanism within the housing partly in plan view and partly inhorizontal section.

Figure 2 is a transverse, vertical, medial sec tional view taken throughboth the housing and internal mechanism, the plane of section beingindicated by the line 22 of Figure 1 and the direction of view by thearrows.

Figure 3 is an enlarged view showing the operating mechanism removedfrom its housing with the plane of section taken through the gyrovertical portion of the device on the line 3-9 of Figure 2. Otherportions of the device, however, are illustrated in top plan.

Figure 4 is a detail view in elevation of the rotor housing, taken inthe direction of arrow 4 in Figure 3. A portion of the figure is brokenaway to reveal one of the air outlet valves in its closed position.

Figure 5 is a View similar to Figure 4 showing the apparatus tilted andthe valve moved to its open position.

Figure 6 is a top plan View of the inner suspended structure of aslightly modified form of gyro vertical utilizing an alternative type ofnonpendulous controller for the erecting mechanism.

Figure 7 is an enlarged view in vertical section on the line of Figure 6with direction of View as indicated.

Figure 8 is a detail view in vertical section taken on the line 88 ofFigure '7 with the direction of View as indicated.

Figure 9 is a-detail view in top plan, the direction of view beingindicated by arrow 9 of Figure 7.

Figure 10 is a bottom plan view of the structure illustrated in Figure 9taken in horizontal section on the line |0-||l of Figure 7 with thedirection of View as indicated.

Figure 11 is a detail view in vertical section taken on the line ofFigure 9 with the direction of view as indicated.

Whereas the gyro vertical of the present invention is capable of generalapplication it is shown and described herein as being cooperativelyassoiciated with the ground speed indicator which forms the subjectmatter of my said application of which this is a division. However,inasmuch as the details of construction of the ground speed indicatorare not an essential feature of the erecting mechanism of the presentapplication only those portions thereof will be described herein whichrequire explanation in order to gain an understanding of the designand/or operation of the erecting mechanism. Sufiice it therefore, forthe purpose of the present disclosure, to explain that the navigationinstrument, of which the present gyro vertical is illustrated as being apart, comprises a housing 2| closed at one end by a window 22 and at itsafter end by a plate 23, both of which are so fitted that they establisha substantially airtight seal with the housing 2|.

The working mechanism of the instrument is supported within the housing2| by a suitable gimbal mounting comprising an outer gimbal member 28including a pair of spaced parallel arms 29 and 3| joined at their afterends by a transverse bar having a trunnion 32 extending aft therefromfor suitable engagement with antifriction bearings 33 and 34 to supportthe outer gimbal member 28 for free swinging movement within the housing2| about a longitudinal axis. The two arms 29 and 3| lcarry alignedanti-friction bearings 36 and 31 adjacent their outer ends within whichare reVOlubly supported trunnion shafts 38 and 39 extending laterallyfrom the inner casing 4|. These shafts 38 and 39 extend at right angleswith respect to the axis of the bearings 33 and 34 and accordingly theinner casing 4| issupported by free universal swinging movement withinthe housing 2 The inner casing 4| serves as the housing for the gyrovertical construction which is indicated in its entirety at 41 and whichcomprises a rotor 6| carried by a shaft 62 suitably jo-urnaled withinthe casing 4| for rotation about a normally vertical axis, 1. e., anaxis normally perpendicular to both the major and minor gimbal axes.Preferably the rotor 6| is air driven and for this purpose instead ofsupplying air pressure greater than atmospheric, it has been found moredesirable to exhaust air from the interior of the airtight housing 2| soas to permit air at atmospheric pressure to enter through suitablenozzles 96 adapted to direct their jets against blades 61 which areformed in the periphery of the rotor 6| in the modification illustrated,the parts are so arranged that the rotor turns in a clockwise direction.Suitable means, including passageways 11 and 19 within the gimbal member28 and the shaft 39, respectively, are provided for supplying air to thenozzles 66 in such a manner as to prevent the development of a torqueupon the gimbal-supported structure, but since the details of this airconduit system form no portion of the present invention, reliance can beplaced upon my said co-pending application for its more completedescription. Furthermore, means (not shown) are provided for exhaustingair from the housing 2| and thereby so decreasing the pressure thereinthat air at atmospheric pressure will enter the said air conduit system,and be directed by the nozzle 69 against the blades 61 of the rotor 9|in such a manner as to cause the rotor 6| to rotate at suitable speed.

As best shown in Figure 3, the inner casing 4| has a plurality ofrecesses 9| formed in its vertical walls and at equally spaced intervalsabout the axis of rotation of the rotor 6|. Preferably there are four ofthese recesses. By referring to Figures 4 and 5 it will be observed thatthe bottom 92 of each of the recesses 9| is smooth and disposed in aplane to which the spinning axis of the rotor 6| is perpendicular. Eachrecess 9| is closed by a plate 93 which serves as a guideway for acylindrical roller 94 which is disposed within the recess and is adaptedto roll back and forth upon the smooth bottom surface thereof. In oneextreme of its movement the roller 94 of each recess is disposed inclOSlng relationship to a vertical passageway 96 leading from theinterior of the associated recess 9| to the exterior of the inner casing4 I A suitable opening 91 (see Figure 3) is formed in the inner wall ofeach recess 9| to permit air to flow from the rotor chamber into therecess 9|.

Each closing plate 93 also is provided with an outlet orifice 98extending horizontally and adapted to communicate with an axialpassageway 99 in the associated roller 94 when that roller is in thatposition which results in closing the passageway 96. All of the airexhausted from the rotor chamber passes through the several recesses 9|,but the direction in which that air moves from each of the chambers inbeing discharged from the inner casing 4| to the interior of the housing2| is determined by the position of the roller 94. When the roller 94 isin the position illustrated in Figure 4 the associated vertical outletorifice 96 is closed and all of the air discharged through that recess9| must flow through the associated horizontal orifice 98'. This is theposition assumed by each of the rollers 94 When the device is in thatposition wherein the spinning axis of the rotor 6| is accuratelyvertical. All of the Horizontal orifices98 are so disposed that all oftheir axes radiate from the point of intersection of the longitudinaland transverse turning axes of the casin 4|, with the result that thereactive force exerted against the casing as the result of egress of airthrough any of the horizontal orifices will have no tendency to move thesuspended structure about either of its axes of sus pension.

However, if the suspended mechanism is disturbed in such a manner as tomove the spinning axis of the rotor 6| to a tilted position, the floor92 of at least one of the recesses 9| will assume an inclined position,and its associated roller 94 will be rolled by gravity to the oppositeend of its stroke, closing the associated horizontal discharge orifice98 because the axial passageway 99 moves out of registr therewith, andopening the associated vertical orifice 96. Of course when such tilt ofthe apparatus occurs, at least two of the horizontal fioors 92 will betilted but the rotor 94 of only one of these two will be permitted toroll because of the direction of tilting which causes one roller to moveaway from its associated vertical orifice, whereas the diametricallyopposite roller cannot move downwards in the direction of tilt becausewhen it is in closing relation with its associated vertical orifice 96,it already is in contact with the limiting end wall of the associatedchamber 9|.

When any one of the vertical orifices becomes uncovered the air nolonger can be delivered from the casing 41 through the associatedhorizontal orifice 98. Instead, it is required to alter its course andescape through associated vertical orifice 96, developing a jet of air,the reactive force of which is exerted against the housing in a verticaldirection and at a point removed from the intersection of the housingsaxes of suspension. As a result, a turning moment is imposed upon thehousing, urging the associated portion of the housing to swing upwardabout an axis perpendicular to that about which the gyroscope hasinclined, use being made of this turning moment to cause the gyroscopeto erect itself to a substantially vertical position.

It is a well known gyroscopic characteristic that whenever the spinningaxis of a gyroscope is urged to move angularly about an axisperpendicular to its own axis of spin, the gyroscope will endeavor tomove as though it were attempting to align, by the most direct route,its said spinning axis with the said axis about which it is urged, andin such direction that were the feat actually accomplished, thedirection of spin of the gyro rotor would coincide with the direction ofthe said urged angular movement. In other words, whenever the spinningaxis of a gyroscope is forced to move angularly about a second axisperpendicular to its axis of spin, there results a precessional movementabout a third axis perpendicular to the other two. Furthermore, inconsequence of this precessional movement about the third axis, thegyroscope endeavors to move about the said second axis but in theopposite direction, with the result that the gyroscope resists movementabout the said second axis and the only appreciable movement of thegyroscope in the precessional movement about the said third axis.

To apply this discussion to the present apparatus, consider, forexample, that the yro vertical 41 becomes tilted about a horizontal axis:r:r (see Figure 3) and in that direction which causes that position ofthe inner casing 4| which is in the upper right hand portion of Figure 3to move downwards and the opposite portion of the casing to moveupwards. Then the roller 94 in the lower right hand portion of theFigure will remain stationary because of its abutment against the wallof its recess which moved downward as the tilting took place. However,the roller 94 at the upper left hand corner of the figure will roll bygravity along the inclined bottom surface 92 of its associated recess 9|which has become tilted coincidentally with the tilting movement of thecasing. This results in completely uncovering the associated verticalorifice and permits air to flow downwards therethrough, causing the airto' be ejected in the form of a jet and as a consequence, a reactiveforce is developed which is made manifest as an upward push against thecasing 9| at the axis of that orifice. It becomes apparent thereforethat the escape of air through the vertical orifice results in a turningmoment perpendicular to the axis about which the gyro vertical istilted. The moment thus produced will cause the gyro vertical to moveabout an axis perpendicular to the axis ar-r, with the upper left handportion (Figure 3) of the housing moving upwards. This will cause thegyroscope to precess about the axis .r-;r, urging the portion of thehousing appearing in the upper right hand portion of Figure 3 to moveupward, inasmuch as the rotor spins clockwise, thus restoring the gyrovertical to the substantially erect position. As this return motionoccurs a second precession is set up about the axis perpendicular to theaxis xm, wherein that portion of the housing which contains the verticalport 96 which has functioned as above described, is urged downwards inopposition to the moment produced by the expulsion of air, with theresult that the only appreciable movement of the gyro vertical is aboutthe axis about which the device became displaced but in the oppositedirection.

Upon return of the gyroscope to vertical position, the floor 92 whichpreviously was tilted, will be returned to horizontal leaving the roller99 free a as far as the force of gravityis concerned. Therefore, thevery slight force exerted eccentrically against the roller by the airrushing out through the vertical port 96 is ample to cause the roller 94to return toits Figure 4 position. This results in closing theassociated vertical port 99 and in opening the associated horizontalorifice 98 so that air again is expelled in the plane of the gimbalbearings with the result that the reactive forces thus developedhorizontally against the casing manifest no tendency to tilt the casing.

An important detail of operation which should be mentioned in connectionwith the roller valves 94 is that they can not ordinarily assume anyintermediate position; i. e., they must move either to fully openposition or fully closed position. Herein lies the explanation of thesuperiority of the erecting mechanism of the present invention ascompared with corresponding structures in previously designed gyroverticals. Heretofore, in this type of device, it has been customary tocontrol the flow through the orifices by means of pendulous blades whichswing towards and away from their respective orifice-closing positions.Such swinging movement, however, entails a gradual openin and gradualclosing of each of the several orifices, i. e., the parts inevitablymust, at some period during their operation, assume intermediate positons between fully opened and fully closed. The disadvantage of such anarrangement is that as the gyro ven- -tical' moves back towards itsaccurately erect position, the orifice through which is rushing the airresponsible for the erecting movement of the gyroscope, gradually isbecoming more and more nearly closed, with the result that just prior tothe time at which the spinning axis of the gyroscope again attains itstruly vertical position, the orifice is so nearly closed that thereactive force exerted against the housing then has become so small thatit no longer has any appreciable effect and accordingly the erectingdevice is never able to erect the gyro vertical with that degree ofexa'ctitude desired for the precise operation of devices of this generalcharacter. This disadvantage of prior devices has been overcomecompletely in the apparatus of the present invention, wherein theerecting orifices remain fully open, discharging air at their fullcapacity and thus causing the development of maximum torque applied tothe casing 4|, until no further need for their operation remains,whereupon they become completely closed, with no gradual dimunition oftorque.

Another disadvantage present in earlier gyro erecting devices relyingupon variations in the H orifices 98, with the result that whenever anyof the orifices closes, another orifice of the same capacity opens andno variation occurs in the quantity of air escaping from the rotorhousing.

Figures 6 to 11 inclusive illustrate a modified form of construction ofthe gyro erecting mechanism of the present invention. As in thepreviously described modification, each of the orifices 23! throughwhich air is discharged from the rotor housing 232 is disposedvertically. Preferably in order to increase the horizontal distance fromthe gimbal axes to the vertical axes of the discharge orifices 231, andthereby increase the sensitivity and responsiveness of the apparatus tothe reactive forces of the air jets, each of the orifices 23! is formedin the upper face of an extension housing 233 affixed to the top 234 ofthe rotor housing 232. A passage 23!; is formed in the under side ofeach extension housing 233 and establishes communication between theassociated discharge orifice 23i and a port 231 leading through the top234 into the chamber 238 within which the rotor 2559. of the gyroscopeis mounted.

As in the previously described modification, the gyroscope rotor 239 isrotated by jets of air impinging against blades 240 on the periphery ofthe rotor, and therefore the air pressure within the chamber 238 isgreater than exteriorly thereof. Consequently as long as the device isin operation there is tendency for air to rush out of all the ports 231through the horizontal pasageway 236 and thence vertically upwardsthrough the discharge orifices 23l. It is the reactive forces of thejets of air from the several orifices 2-3l which is relied upon to causethe erection of the gyroscope as hereinabove mentioned.

Therefore by providing means operated by gravity whenever the gyroscopedeviates from its proper vertical position and adapted to regulate flowthrough the several orifices 23| the gyroscope can be causedautomatically to adjust itself strument.

Instead of taking the form of rollers adapted to roll back and forth onhorizontal surfaces, as in the previously described modification, themeans for regulating flow through each of the discharged orifices 23|comprises a vane or blade 24| pivotally mounted as by a pin 242 adjacentone end of the blade 24L Each blade 24I extends horizontally outwardsfrom its pivot pin 242, i. e., away from the intersection of the gimbalaxes, and preferably closely overlying the top of the associatedextension housing 233, toa posh tion beyond the associated dischargeorifice 231. Since each of the pivot pins 242 is vertical, the plane ofmovement of each blade is horizontal and therefore perpendicular to thespinning axis of the rotor, in which respect the blades correspond tothe roller type of jet controllers previously described. Movement ofeach of the blades 2 is limited by two stop pins 243 and 244, the formerstopping movement of the associated blade in one direction and when theblade is disposed over the associated discharge orifice 23]; and thelatter stopping movement of the blade in the other direction, but notuntil the blade has completely uncovered the orifice. Figure 9illustrates the blade 24! in this orifice-uncovering position and inengagement with the stop pin 244. The parts are so arranged andinterassociated that when the gyroscope is displaced from the vertical,carrying with it those parts of the instrument which depend upon it fororientation with respect to the vertical, one or more of the blades 24iwill swing out of alignment with the associated orifice or orifices, asthe case might be. This will permit a substantial increase in the amountof air flowing through the one or more orifices which have thus becomeuncovered; and for each orifice uncovered a reactive force will bedeveloped urging the associated position of the housing downwards, i. e.developing a torque urging the housing to rotate about at least one ofits gimbal axes. In this manner, precession of the gyroscope is inducedand the gyroscope caused to return to the vertical, thereby correctingthe deviation therefrom which was responsible for the shifting of theblade or blades 24| from their orifice-closing position.

In this connection it might be explained that the blades 24 do notcompletely close their respective orifices 23l, but move to a positionclosely overlying them and thus serve to reduce but do not entirely stopflow of air therethrough. The reason for this is that the modificationhere being described is not especially intended for use in an instrumentwhich would require a constant speed of rotation of the gyroscopes rotorand consequently a constant flow of air through the rotor housing.Instead, the erecting mechanism of this modification is intended for usein connection with an instrument in which constancy of speed of rotationof the rotor is not important, as for example, in an artificial horizon.Therefore, the several orifices 23! may constitute the sole means ofegress of air from the rotor chamber 238, which accounts for the spacingof the blades 24! above their respective orifices 231,, wherein they donot stop but merely impede flow therethrough. When one or more of theblades 24! moves away from their associated jets, the rate of fiowthrough that orifice then increases with a consequent reduction in aquantity of air escaping through the other ori- Preferably means areprovided for resisting very small forces tending to displace the blades2 from jet-stopping position. The reason for this is that otherwisethere might be a tendency for the blades to become displaced simply as aresult of vibration of the instruments carrier, or other influences thanactual displacement of the instrument from its proper, verticalposition. With this end in view, I prefer to form the extreme end ofeach blade, i. e., that portion thereof against which the associated jetimpinges, with an oblique under face 246, which is best shown in Figure11. The direction of pitch of this oblique face is such that theimpingement of the jet thereagainst produces a component force whichtends to hold the blade in jet-stopping position over its associatedorifice 23L Nevertheless, the slope of the face 246 is so slight thatwhenever any appreciable tipping of the rotor housing occurs, therebyproducing a component of the force of gravity against one or more of theblades 24! urging them away from their associated stop pins 243, thecomponents derived from impingement of the jets against the slopingfaces 246 will be less than the forces urging the blades out of theirrespective jets, with the result the proper functioning of the blades isnot interfered with.

I claim:

In a gyro vertical a casing, means supporting said casing for freedom ofmovement about a plurality of axes, a rotor revolubly mounted withinsaid casing, means for spinning said rotor, said casing having fluiddirecting orifices offset from said axes whereby fluid directedtherefrom will develop reactive forces urging said casing to ro- 10 tateabout said axes, a controller associated with each of said orifices andobstructing flow of fluid therefrom when the axis of spin of said rotoris vertical, said controllers being pivotally mounted on said casing formovement under the influence of gravity, in a plane perpendicular to theaxis of spin of said rotor and in response to movement of said casing toand from a position in which the axis of spin of said rotor is vertical,to uncover the associated orifices to provide for unobstructed dischargeof fluid therefrom to develop reactive forces to restore such axis ofspin to vertical, each of said controllers being formed with reactivesurfaces cooperative with fluid discharged from said orifices torestrain movement of said controllers away from such orifice obstructingpositions.

THOMAS O. SUMMERS, JR.

REFERENCES CITED The following references are of record in the flle ofthis patent:

UNITED STATES PATENTS Number Name Date 1,442,799 Gray Jan. 23, 19232,036,229 Moss Apr. 7, 1936 2,036,288 MacFarlane Apr. 7, 1936 2,140,191Schuchardt et a1. Dec. 13, 1938 2,159,099 Moss May 23, 1939 2,183,939Moss Dec. 19, 1939 2,227,529 Alkan Jan. 7, 1941 2,368,058 Whatley Jan.23, 1945 FOREIGN PATENTS Number Country Date 95,595 Sweden May 2, 1939

